Siemens SIMATIC S7-1500 Function Manual page 257

Parameters
The following table shows the parameters of the "MC_MoveRelative" Motion Control
instruction:
Parameter Declaration
Axis InOut
Execute INPUT
Distance INPUT
Velocity INPUT
Acceleration INPUT
Deceleration INPUT
Jerk INPUT
Done OUTPUT
Busy OUTPUT
CommandAborted OUTPUT
S7-1500 Motion Control V13 Update 3
Function Manual, 07/2014, A5E03879256-AC
Data type Default value
TO_Positioning -
Axis
BOOL FALSE
LREAL 0.0
LREAL -1.0
LREAL -1.0
LREAL -1.0
LREAL -1.0
BOOL FALSE
BOOL FALSE
BOOL FALSE
11.1 S7-1500 Motion Control V2
Description
Technology object
Start of the job with a positive edge
Distance for the positioning process
(negative or positive)
Setpoint velocity for the positioning
Value > 0.0: The specified value is used.
Value = 0.0: not permitted
Value < 0.0: The velocity configured in "Technology
object > Configuration > Advanced parameters >
Default dynamics" is used.
(<TO>.DynamicDefaults.Velocity)
Acceleration
Value > 0.0: The specified value is used.
Value = 0.0: not permitted
Value < 0.0: The acceleration configured in "Tech-
nology object > Configuration > Extended parame-
ters > Dynamic defaults" is used.
(<TO>.DynamicDefaults.Acceleration)
Deceleration
Value > 0.0: The specified value is used.
Value = 0.0: not permitted
Value < 0.0: The deceleration configured in "Tech-
nology object > Configuration > Extended parame-
ters > Dynamic defaults" is used.
(<TO>.DynamicDefaults.Deceleration)
Jerk
Value > 0.0: Constant-acceleration velocity profile;
the specified jerk is used
Value = 0.0: Trapezoid velocity profile
Value < 0.0: The jerk configured in "Technology
object > Configuration > Extended parameters >
Dynamic defaults" is used.
(<TO>.DynamicDefaults.Jerk)
TRUE Target position reached
TRUE The job is being executed.
TRUE During execution the job was aborted by
another job.
Instructions
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